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首页> 外文期刊>Journal of Dynamic Systems, Measurement, and Control >Observer-Based Nonlinear Robust Control of Floating Container Cranes Subject to Output Hysteresis
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Observer-Based Nonlinear Robust Control of Floating Container Cranes Subject to Output Hysteresis

机译：基于观察者的浮动容器起重机的非线性鲁棒控制，其输出滞后

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摘要

A container crane mounted on a pontoon is utilized to transfer containers to smaller ships when a large container ship cannot reach the shallow water port. The shipboard container is considered as an underactuated system having complicated kinematic constraints and hysteretic nonlinearities, with only two actuators to conduct simultaneous tasks: tracking the trolley to destination, lifting the container to the desired cable length, and suppressing the axial container oscillations and container swing. Parameter variations, wave-induced motions of the ship, wind disturbance, and nonlinearities remain challenges for control of floating container cranes. To deal with these problems, this study presents the design of two nonlinear robust controllers, taking into account the influence of the output hysteresis, and using velocity feedback from a state observer. Control performance of the proposed controllers is verified in both simulation and experiments. Together with consistently stabilizing outputs, the proposed control approach well rejects hysteresis and disturbance.
机译：安装在浮桥上的集装箱起重机用于将容器转移到较小的船舶时，当大集装箱船无法到达浅水端口时。船上容器被认为是具有复杂运动限制和滞后非线性的欠施系统，只有两个执行器来进行同时任务：将推车跟踪到目的地，将容器抬到所需的电缆长度，并抑制轴向容器振荡和容器摆动。参数变化，船舶，风扰动和非线性的波浪诱导的运动保持挑战，用于控制浮体容器起重机。为了处理这些问题，本研究表明了两个非线性稳健控制器的设计，考虑到输出滞后的影响，并使用状态观测器的速度反馈。在模拟和实验中验证了所提出的控制器的控制性能。与始终如一的稳定输出，所提出的控制方法良好地拒绝滞后和干扰。

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